The bailiff and star of BBC show The Enforcers has failed in a high court bid to stop a John Sweeney Panorama investigation into debt recovery being broadcast.

Jamie Waller's JBW Group tried to get an injunction against the BBC programme, which is due to air on Monday night, after it learned of undercover filming of staff working for the company.

Monday night's Panorama goes undercover to expose the bailiffs who seize cars and demand huge fees in what has become a multi-million pound business chasing unpaid parking tickets.

A BBC spokesman confirmed on Monday the attempt to block the programme and said the company had argued in its application that it should be granted the injunction of the grounds of defamation. It was denied the application by a high court judge, Mr Justice Tugendhat, on Friday.

JBW said in a statement that it had no option but to apply for an injunction "to protect the position of its clients and the business", after the independent production company making the Panorama film, Snapper, sent a letter alleging that the company "had breached relevant regulation, guidelines and committed unlawful acts by its agents".

The company said it had provided a detailed response to the letter "comprehensively dealing with all points and allegations made by Snapper".

JBW added: "Mr Justice Tugendhat gave very clear indication at court on Friday that for Snapper and the BBC to disregard our comprehensive response would not only be 'utterly irresponsible' and 'extremely foolish' but that the 'consequences for the defendant of doing so would be extremely grave'.

"Justice Tugendhat commented that it was very unlikely the BBC would now publish or broadcast the programme as originally intended and outlined in Snapper's letter."

Waller founded JBW 20 years ago and, keen to change the perception of some of the most hated house visitors in the country, starred in the BBC1 show The Enforcers as well as Beat the Bailiff. He also makes regular appearances on the BBC's Money Matters.

A BBC statement about the programme stated: "Bailiffs recovering debts for local authorities say they do a public service, hunting down those who don't pay up. But Panorama has evidence that some bailiffs are intimidating motorists, exaggerating their powers and pumping up fees.